version: 66.06
glider: 148
mission: 9
dive: 419
start: 1 1 111 16 40 16
data:
$ID,148
$MISSION,9
$DIVE,419
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,185
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-866983
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,163134,2249.901,-15802.848,7,2.3,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.2
$GPS2,163919,2249.917,-15802.852,9,1.5,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.228,0.104
$KALMAN_X,-37762.2,91.0,150.2,49578.5,505.6
$KALMAN_Y,-78996.6,557.8,527.2,207597.6,-1108.7
$MHEAD_RNG_PITCHd_Wd,55.4,9990,-15.9,-9.009
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,103,0.00,0.00,-82.88,0.000,2,0.000,0.000,413,1873,3521,0,0,0,0,0,0
$GC,108,-1.17,-146.0,4.5,-6.4,11,133,11.50,2.72,-3.22,0.000,4,0.153,0.045,2595,220,3719,0,0,0,0,0,0
$GC,227,-1.24,-146.0,34.1,-12.0,26,231,0.00,2.42,0.00,0.000,6,0.000,0.019,2595,1790,3721,0,0,0,0,0,0
$GC,494,-1.09,-146.0,72.4,-14.7,50,499,0.12,2.53,0.00,0.000,4,0.112,0.031,2623,3368,3721,0,0,0,0,0,0
$GC,580,-1.09,-146.0,84.1,-10.6,57,586,0.00,2.45,0.00,0.000,6,0.000,0.022,2623,1809,3721,0,0,0,0,0,0
$GC,843,-1.09,-146.0,110.4,-9.2,82,847,0.00,2.50,0.00,0.000,4,0.000,0.029,2622,3367,3722,0,0,0,0,0,0
$GC,902,-1.18,-146.0,115.4,-8.1,87,906,0.00,2.47,0.00,0.000,6,0.000,0.022,2622,1808,3722,0,0,0,0,0,0
$GC,1169,-1.18,-146.0,138.9,-9.4,111,1173,0.00,2.47,0.00,0.000,4,0.000,0.029,2623,3367,3723,0,0,0,0,0,0
$GC,1208,-1.26,-146.0,143.7,-10.4,114,1219,0.12,2.45,0.00,0.000,6,0.025,0.021,2543,1832,3723,0,0,0,0,0,0
$GC,1477,-1.08,-146.0,181.5,-14.1,139,1486,0.32,2.60,0.00,0.000,4,0.084,0.036,2619,214,3724,0,0,0,0,0,0
$GC,1491,-0.96,-146.0,184.5,-13.9,140,1497,0.12,2.53,0.00,0.000,6,0.098,0.018,2649,1847,3723,0,0,0,0,0,0
$GC,1782,-1.11,-146.0,206.4,-7.4,162,1787,0.12,2.42,0.00,0.000,4,0.062,0.029,2577,3365,3723,0,0,0,0,0,0
$GC,1849,-1.11,-146.0,213.5,-10.3,163,1854,0.17,2.42,0.00,0.000,6,0.085,0.023,2618,1834,3723,0,0,0,0,0,0
$GC,2114,-1.18,-146.0,237.3,-8.8,170,2118,0.00,2.42,0.00,0.000,4,0.000,0.029,2618,3361,3724,0,0,0,0,0,0
$GC,2153,-1.29,-146.0,240.5,-7.8,170,2158,0.17,2.38,0.00,0.000,6,0.047,0.023,2524,1852,3723,0,0,0,0,0,0
$GC,2403,-1.05,-146.0,273.8,-13.8,176,2410,0.52,2.65,0.00,0.000,4,0.081,0.039,2627,214,3724,0,0,0,0,0,0
$GC,2431,-1.17,-146.0,276.4,-8.2,176,2436,0.00,2.58,0.00,0.000,6,0.000,0.021,2627,1854,3724,0,0,0,0,0,0
$GC,2693,-1.31,-146.0,292.6,-6.5,183,2698,0.22,2.42,0.00,0.000,4,0.041,0.031,2533,3365,3724,0,0,0,0,0,0
$GC,2763,-1.20,-146.0,300.9,-12.2,184,2768,0.30,2.38,0.00,0.000,6,0.079,0.023,2601,1869,3724,0,0,0,0,0,0
$GC,3025,-1.27,-146.0,324.3,-8.7,191,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,1869,3723,0,0,0,0,0,0
$GC,3267,-1.34,-146.0,344.7,-8.3,197,3272,0.15,2.45,0.00,0.000,4,0.054,0.037,2534,3364,3723,0,0,0,0,0,0
$GC,3305,-1.25,-146.0,349.0,-11.6,197,3312,0.22,2.38,0.00,0.000,6,0.085,0.025,2585,1880,3723,0,0,0,0,0,0
$GC,3557,-1.25,-146.0,371.4,-8.8,204,3561,0.00,2.42,0.00,0.000,4,0.000,0.040,2585,3358,3721,0,0,0,0,0,0
$GC,3600,-1.31,-146.0,375.4,-8.6,205,3604,0.00,2.35,0.00,0.000,6,0.000,0.027,2585,1882,3721,0,0,0,0,0,0
$GC,3888,-1.31,-146.0,401.2,-9.0,212,3892,0.00,2.40,0.00,0.000,4,0.000,0.041,2585,3352,3719,0,0,0,0,0,0
$GC,3916,-1.31,-146.0,404.1,-9.3,212,3920,0.00,2.33,0.00,0.000,6,0.000,0.028,2585,1895,3719,0,0,0,0,0,0
$GC,4174,-1.31,-146.0,428.8,-9.8,219,4178,0.00,2.42,0.00,0.000,4,0.000,0.044,2585,3355,3717,0,0,0,0,0,0
$GC,4192,-1.31,-146.0,430.8,-10.5,219,4196,0.00,2.35,0.00,0.000,6,0.000,0.026,2585,1887,3717,0,0,0,0,0,0
$GC,4462,-1.31,-146.0,455.5,-9.0,226,4466,0.00,2.42,0.00,0.000,4,0.000,0.047,2585,3356,3716,0,0,0,0,0,0
$GC,4490,-1.31,-146.0,458.2,-8.5,226,4494,0.00,2.33,0.00,0.000,6,0.000,0.027,2585,1901,3715,0,0,0,0,0,0
$GC,4744,-1.31,-146.0,477.4,-7.3,233,4748,0.00,2.42,0.00,0.000,4,0.000,0.047,2585,3354,3713,0,0,0,0,0,0
$GC,4784,-1.40,-146.0,480.3,-7.3,233,4790,0.12,2.35,0.00,0.000,6,0.065,0.029,2525,1905,3713,0,0,0,0,0,0
$STATE,4990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4990,begin apogee
$GC,4996,-0.31,0.0,501.3,10.3,239,5118,1.20,0.00,118.65,0.864,6,0.077,0.000,2794,1676,3119,0,0,0,0,0,0
$STATE,5119,end apogee,CONTROL_FINISHED_OK
$STATE,5119,begin climb
$GC,5123,1.17,146.0,505.6,0.0,242,5249,1.30,0.00,120.90,0.847,6,0.025,0.000,3116,1676,2524,0,0,0,0,0,0
$GC,5492,0.90,169.6,490.0,8.0,251,5520,0.25,2.65,20.15,0.793,4,0.113,0.070,3061,183,2426,0,0,0,0,0,0
$GC,5691,0.68,169.6,472.3,9.1,255,5697,0.25,2.38,0.00,0.000,6,0.101,0.027,3009,1644,2422,0,0,0,0,0,0
$GC,5962,0.76,235.3,455.2,6.3,262,6021,0.00,0.00,57.15,0.823,6,0.000,0.000,3009,1644,2160,0,0,0,0,0,0
$GC,6244,0.80,262.9,433.8,7.9,269,6271,0.10,0.00,24.77,0.787,6,0.077,0.000,3059,1644,2048,0,0,0,0,0,0
$GC,6488,0.73,262.9,407.8,11.0,275,6493,0.20,2.53,0.00,0.000,4,0.094,0.054,3017,180,2041,0,0,0,0,0,0
$GC,6533,0.73,262.9,403.3,10.4,276,6538,0.00,2.40,0.00,0.000,6,0.000,0.026,3017,1677,2041,0,0,0,0,0,0
$GC,6820,0.74,271.2,378.3,8.7,283,6833,0.00,2.70,7.50,0.656,4,0.000,0.048,3016,3256,2014,0,0,0,0,0,0
$GC,6858,0.81,271.2,375.0,9.3,283,6864,0.00,2.62,0.00,0.000,6,0.000,0.033,3017,1685,2012,0,0,0,0,0,0
$GC,7107,0.81,271.2,352.1,9.3,290,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1685,2011,0,0,0,0,0,0
$GC,7352,0.88,275.2,330.3,8.8,296,7364,0.15,2.62,4.62,0.535,4,0.058,0.041,3089,3252,1997,0,0,0,0,0,0
$GC,7380,0.76,275.2,327.3,11.3,296,7388,0.30,2.62,0.00,0.000,6,0.089,0.035,3024,1677,1996,0,0,0,0,0,0
$GC,7642,0.78,289.0,304.4,8.4,303,7663,0.00,2.67,13.98,0.694,4,0.000,0.065,3024,175,1940,0,0,0,0,0,0
$GC,7737,0.78,292.2,296.2,8.9,305,7746,0.00,2.40,4.35,0.501,6,0.000,0.025,3024,1676,1928,0,0,0,0,0,0
$GC,8026,0.88,312.7,272.4,8.2,312,8048,0.12,0.00,20.05,0.693,6,0.064,0.000,3076,1677,1845,0,0,0,0,0,0
$GC,8267,0.88,312.7,247.6,10.4,318,8272,0.12,2.60,0.00,0.000,4,0.116,0.058,3050,161,1840,0,0,0,0,0,0
$GC,8312,0.88,312.7,243.1,10.6,319,8317,0.00,2.40,0.00,0.000,6,0.000,0.023,3050,1670,1840,0,0,0,0,0,0
$GC,8599,0.88,312.7,216.4,9.2,326,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1673,1839,0,0,0,0,0,0
$GC,8846,0.88,312.7,193.0,9.8,335,8850,0.00,2.55,0.00,0.000,4,0.000,0.049,3050,159,1838,0,0,0,0,0,0
$GC,8881,0.88,312.7,189.2,10.8,338,8885,0.00,2.40,0.00,0.000,6,0.000,0.023,3050,1669,1837,0,0,0,0,0,0
$GC,9143,0.90,331.2,165.9,8.2,362,9165,0.00,2.60,16.42,0.597,4,0.000,0.033,3050,3250,1769,0,0,0,0,0,0
$GC,9178,0.91,338.1,163.0,8.7,365,9191,0.00,2.62,7.47,0.523,6,0.000,0.028,3050,1650,1741,0,0,0,0,0,0
$GC,9447,0.92,343.4,139.4,8.8,390,9460,0.00,2.50,6.12,0.482,4,0.000,0.047,3050,175,1718,0,0,0,0,0,0
$GC,9487,0.92,343.4,135.6,9.1,393,9493,0.00,2.35,0.00,0.000,6,0.000,0.021,3051,1669,1718,0,0,0,0,0,0
$GC,9750,1.01,358.1,113.2,8.4,418,9772,0.12,2.62,14.25,0.540,4,0.064,0.035,3099,3257,1659,0,0,0,0,0,0
$GC,9789,1.01,358.1,109.4,11.5,421,9793,0.00,2.60,0.00,0.000,6,0.000,0.027,3099,1667,1657,0,0,0,0,0,0
$GC,10054,1.01,358.1,79.4,10.4,445,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1667,1656,0,0,0,0,0,0
$GC,10320,1.01,358.1,50.9,10.7,470,10324,0.00,2.45,0.00,0.000,4,0.000,0.044,3099,168,1656,0,0,0,0,0,0
$GC,10351,1.01,358.1,46.7,11.6,472,10360,0.00,2.38,0.00,0.000,6,0.000,0.021,3099,1669,1656,0,0,0,0,0,0
$GC,10632,1.01,358.1,18.0,9.9,506,10640,0.00,2.58,0.00,0.000,4,0.000,0.034,3099,3251,1656,0,0,0,0,0,0
$GC,10678,1.01,358.1,13.7,9.2,512,10686,0.00,2.55,0.00,0.000,6,0.000,0.027,3099,1683,1655,0,0,0,0,0,0
$STATE,10773,end climb,SURFACE_DEPTH_REACHED
$STATE,10773,begin surface coast
$FINISH,0.7,1.011683
$STATE,10821,end surface coast,CONTROL_FINISHED_OK
$STATE,10821,begin surface
$SM_CCo,10844,35.83,0.363,1,0,1406,420.20
$SM_GC,1.69,0.00,0.00,35.83,0.000,0.000,0.363,406,1828,1406,-11.29,1.07,420.20
$IRIDIUM_FIX,2241.69,-15804.53,270300,141455
$TT8_MAMPS,0.026845
$HUMID,48.38
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.5,55.026
$10V_AH,10.2,48.115
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.175,134.750,436.400,35.825,0.000,28.861,51.078,254.412,0.250,0.000,16.106,1106.748,7082.674,548.253,1985.491,629.495,33.397,1348.031,0.000,1982.814,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,69.797,864.409,362.791,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.269,315.692,408.120,605.863,1071.557,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,41612,534
$CAP_FILE_SIZE,119947,0
$CFSIZE,260165632,148611072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010111,194252,2249.763,-15801.146,12,99.0,31,10.1